#include "ne_ds.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_sys_struct.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_dxf.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_externals.h"
#include "openManipulatorTrajectoryPlanning_6a081443_2_ds_external_struct.h"
#include "ssc_ml_fun.h"
int32_T openManipulatorTrajectoryPlanning_6a081443_2_ds_dxf ( const
NeDynamicSystem * sys , const NeDynamicSystemInput * t4 , NeDsMethodOutput *
t5 ) { PmRealVector out ; real_T U_idx_0 ; real_T X_idx_0 ; real_T
intermediate_der7 ; real_T intrm_sf_mf_0 ; real_T intrm_sf_mf_4 ; U_idx_0 =
t4 -> mU . mX [ 0 ] ; X_idx_0 = t4 -> mX . mX [ 0 ] ; out = t5 -> mDXF ;
intrm_sf_mf_0 = ( X_idx_0 - 0.0125 ) * 10000.0 + U_idx_0 * 150.0 ; U_idx_0 =
( X_idx_0 - - 0.01 ) * 10000.0 + U_idx_0 * 150.0 ; intermediate_der7 = (
X_idx_0 - 0.0125 ) / 0.0001 ; intrm_sf_mf_4 = ( - 0.01 - X_idx_0 ) / 0.0001 ;
if ( X_idx_0 >= 0.0126 ) { intermediate_der7 = - ( ( real_T ) ( intrm_sf_mf_0
>= 0.0 ) * 10000.0 ) ; } else if ( X_idx_0 >= 0.0125 ) { intermediate_der7 =
- ( ( ( 10000.0 * intermediate_der7 * 6.0 - intermediate_der7 *
intermediate_der7 * 10000.0 * 6.0 ) * intrm_sf_mf_0 + 10000.0 * (
intermediate_der7 * intermediate_der7 * 3.0 - intermediate_der7 *
intermediate_der7 * intermediate_der7 * 2.0 ) ) * ( real_T ) ( intrm_sf_mf_0
>= 0.0 ) ) ; } else if ( X_idx_0 > - 0.01 ) { intermediate_der7 = 0.0 ; }
else if ( X_idx_0 > - 0.0101 ) { intermediate_der7 = - ( ( ( - 10000.0 *
intrm_sf_mf_4 * 6.0 - intrm_sf_mf_4 * intrm_sf_mf_4 * - 10000.0 * 6.0 ) *
U_idx_0 + 10000.0 * ( intrm_sf_mf_4 * intrm_sf_mf_4 * 3.0 - intrm_sf_mf_4 *
intrm_sf_mf_4 * intrm_sf_mf_4 * 2.0 ) ) * ( real_T ) ( U_idx_0 <= 0.0 ) ) ; }
else { intermediate_der7 = - ( ( real_T ) ( U_idx_0 <= 0.0 ) * 10000.0 ) ; }
out . mX [ 0 ] = intermediate_der7 ; out . mX [ 1 ] = 1.0 ; ( void ) sys ; (
void ) t5 ; return 0 ; }
